Vehicle control method, vehicle control device, vehicle and storage medium

Abstract

The invention provides a vehicle control method, a vehicle control device, a vehicle and a storage medium, and the method comprises the following steps: if a rear wheel steering fault of the vehicle is detected, obtaining the current speed of the vehicle and the current rack position of a front wheel steering gear; determining target vehicle parameters corresponding to the current speed based on the current speed of the vehicle; determining a rack position compensation amount of a front wheel steering gear based on the target vehicle parameters; and obtaining a target rack position of a front wheel steering gear based on the rack position compensation amount and the current rack position, so that front wheels of the vehicle steer based on the target rack position. The method can ensure the stability of the vehicle under the condition of steering failure of the rear wheels of the vehicle.

Description

Technical Field

[0001] The present application relates to the field of vehicles, and more specifically, to a vehicle control method, a vehicle control device, a vehicle, and a storage medium. Background Art

[0002] As vehicles become more popular, vehicle manufacturers continue to pursue technological innovation to enhance their brand image, and therefore continue to increase the size of some vehicles. After the size of the vehicle increases, the longer wheelbase can improve the comfort of the driver and passengers, but it also increases the turning radius of the vehicle, reducing the maneuverability and flexibility of the vehicle in a small space. In addition, with the acceleration of urbanization, road congestion and parking space shortages have become the norm, and vehicles need to move more flexibly in narrow spaces.

[0003] In the related art, the rear-wheel steering algorithm is introduced to improve the flexibility of vehicle driving; although the rear-wheel steering algorithm brings convenience to vehicle driving, if the rear-wheel steering fails in the process of responding to the front-wheel steering, the rear wheel cannot follow the front wheel, the vehicle's driving direction will be offset, and there may be safety hazards. Therefore, in the case of a rear-wheel steering failure, how to ensure the stability of the vehicle becomes an urgent problem to be solved. Summary of the invention

[0004] The present application provides a vehicle control method, a vehicle control device, a vehicle and a storage medium, wherein the method can ensure the stability of the vehicle in the event of a rear wheel steering failure of the vehicle.

[0005] In a first aspect, a vehicle control method is provided, the method comprising:

[0006] If a rear wheel steering failure of the vehicle is detected, obtaining the current speed of the vehicle and the current rack position of the front wheel steering gear;

[0007] Based on the current speed of the vehicle, determining a target vehicle parameter corresponding to the current speed;

[0008] Based on the target vehicle parameters, determining a rack position compensation amount of the front wheel steering gear;

[0009] Based on the rack position compensation amount and the current rack position, a target rack position of the front wheel steering gear is obtained, so that the front wheels of the vehicle are steered based on the target rack position.

[0010] According to the above technical solution, if a rear-wheel steering failure of the vehicle is detected, the current speed of the vehicle and the current rack position of the front-wheel steering gear are obtained, and based on the current speed of the vehicle, the target vehicle parameters corresponding to the current speed are determined, and based on the target vehicle parameters, the rack position compensation amount of the front-wheel steering gear is determined; compared with the prior art, in which the rack position compensation amount is determined by fixed vehicle parameters, the present application determines the rack position compensation amount by the target vehicle parameters corresponding to the current speed, and then ensures the accuracy of the rack position compensation amount by different vehicle parameters corresponding to the current speed, and obtains the target rack position of the front-wheel steering gear based on the rack position compensation amount and the current rack position, so that the front wheels of the vehicle are steered based on the target rack position. Since the rack position compensation amount is more accurate, in the event of a rear-wheel steering failure of the vehicle, the stability of the vehicle can be ensured, thereby improving driving safety.

[0011] In combination with the first aspect, in some possible implementations, determining, based on the current speed of the vehicle, a target vehicle parameter corresponding to the current speed includes:

[0012] If the current speed of the vehicle is less than or equal to a first preset speed, determining the target vehicle parameters including the current speed, the current rack position of the rear wheel steering gear, the yaw rate and the steering wheel angle;

[0013] If the current speed of the vehicle is greater than the first preset speed, the target vehicle parameters are determined to include the current speed, the current rack position of the rear wheel steering gear, the lateral acceleration and the tire slip angle.

[0014] According to the above technical solution, when the current speed of the vehicle is less than or equal to the first preset speed, the target vehicle parameters are determined to include the current speed, the current rack position of the rear-wheel steering gear, the yaw angular velocity and the steering wheel angle; when the current speed of the vehicle is greater than the first preset speed, the target vehicle parameters are determined to include the current speed, the current rack position of the rear-wheel steering gear, the lateral acceleration and the tire slip angle; through the current speed of the vehicle, the vehicle parameters that have a greater impact on the vehicle direction can be determined, thereby determining the rack position compensation amount through different vehicle parameters corresponding to the current speed, which can improve the accuracy of the rack position compensation amount.

[0015] In combination with the first aspect and the above implementation manner, in some possible implementation manners, the method further includes: determining an adjustment coefficient of each parameter in the target parameter based on the current speed;

[0016] If the current speed of the vehicle is less than or equal to the first preset speed, determining the rack position compensation amount of the front wheel steering gear based on the target vehicle parameter includes:

[0017] Obtaining the rack position compensation amount based on the sum of the product of the current speed and the adjustment coefficient corresponding to the current speed, the product of the current rack position of the rear wheel steering gear and the adjustment coefficient corresponding to the current rack position of the rear wheel steering gear, the product of the yaw rate and the adjustment coefficient corresponding to the yaw rate, and the product of the steering wheel angle and the adjustment coefficient corresponding to the steering wheel angle;

[0018] If the current speed of the vehicle is greater than the first preset speed, determining the rack position compensation amount of the front wheel steering gear based on the target vehicle parameter includes:

[0019] The rack position compensation amount is obtained based on the sum of the product of the current speed and the adjustment coefficient corresponding to the current speed, the product of the current rack position of the rear-wheel steering gear and the adjustment coefficient corresponding to the current rack position of the rear-wheel steering gear, the product of the lateral acceleration and the adjustment coefficient corresponding to the lateral acceleration, and the product of the tire slip angle and the adjustment coefficient corresponding to the tire slip angle.

[0020] The above technical solution determines the adjustment coefficient of each parameter in the target parameters based on the current speed, and determines the rack position compensation amount of the front wheel steering gear based on the adjustment coefficient of each parameter in the target parameters and the target vehicle parameters; since the adjustment coefficient is determined based on the current speed, the target vehicle parameters are adjusted by the adjustment coefficient to determine the rack position compensation amount, which can improve the accuracy of the rack position compensation amount.

[0021] In combination with the first aspect and the above implementations, in some possible implementations, the method further includes: obtaining a target rack sub-position based on the rack position compensation amount and the target rack position;

[0022] The front wheel steering gear is controlled based on the target rack position so that the front wheel steering gear moves from the current rack position to the target rack position.

[0023] The above technical solution obtains the target rack sub-position based on the rack position compensation amount and the target rack position, and controls the front wheel steering gear based on the target rack sub-position to move the front wheel steering gear from the current rack position to the target rack position; since the target rack sub-position is obtained by smoothing, by smoothing the front wheel actuator compensation process, the phenomenon of vehicle instability caused by excessive speed compensation can be avoided, thereby improving the stability of the vehicle.

[0024] In combination with the first aspect and the above implementation manner, in some possible implementation manners, obtaining the target rack sub-position based on the rack position compensation amount and the target rack position includes:

[0025] Acquire multiple compensation moments and smoothing parameters of the front wheel steering gear; wherein the smoothing parameter is negatively correlated with the moving speed, and the moving speed is used to indicate the speed of moving from the current rack position to the target rack position;

[0026] Based on each compensation moment, a smoothing parameter, the rack position compensation amount and the target rack position, the target rack position at each compensation moment is obtained.

[0027] The above technical solution obtains multiple compensation moments and smoothing parameters of the front-wheel steering gear, and obtains the target rack sub-position at each compensation moment based on each compensation moment, smoothing parameter, rack position compensation amount and target rack position; and then moves according to the corresponding target rack sub-position at each compensation moment, thereby achieving smooth movement of the rack position of the front-wheel steering gear and improving the stability of the vehicle.

[0028] In combination with the first aspect and the above implementation manner, in some possible implementation manners, if a rear wheel steering failure of the vehicle is detected, obtaining the current speed of the vehicle includes:

[0029] If a rear wheel steering failure of the vehicle is detected, obtaining the opening degree of the accelerator pedal of the vehicle;

[0030] Based on the opening degree of the accelerator pedal, a current speed of the vehicle is determined.

[0031] According to the above technical solution, if a rear-wheel steering failure of the vehicle is detected, the current speed of the vehicle is determined based on the opening of the accelerator pedal. Since the rack position of the rear-wheel steering gear of the vehicle remains unchanged in the event of a rear-wheel steering failure, the accuracy of the current speed can be ensured by the opening of the accelerator pedal. The influence of the rear wheels relative to the front wheels can be determined by the current speed of the vehicle, thereby compensating the rack position of the front-wheel steering gear to ensure that the vehicle can maintain stable straight driving.

[0032] In combination with the first aspect and the above implementations, in some possible implementations, determining the current speed of the vehicle based on the opening of the accelerator pedal includes:

[0033] determining a requested speed of the vehicle based on the opening of the accelerator pedal;

[0034] If the requested speed is less than or equal to a second preset speed, taking the requested speed as the current speed;

[0035] If the requested speed is greater than a second preset speed, the second preset speed is used as the current speed.

[0036] The above technical solution determines the requested speed of the vehicle based on the opening of the accelerator pedal. If the requested speed is less than or equal to the second preset speed, the requested speed is used as the current speed. If the requested speed is greater than the second preset speed, the second preset speed is used as the current speed. Since the vehicle speed is limited in the event of a rear wheel failure, the maximum speed of the vehicle is determined based on the opening of the accelerator pedal, thereby ensuring driving safety while ensuring the vehicle's power as much as possible.

[0037] In a second aspect, a vehicle control device is provided, the device comprising:

[0038] An acquisition module, for acquiring a current speed of the vehicle and a current rack position of a front wheel steering gear if a rear wheel steering failure of the vehicle is detected;

[0039] A determination module, configured to determine a target vehicle parameter corresponding to the current speed based on the current speed of the vehicle;

[0040] A calculation module, used for determining a rack position compensation amount of the front wheel steering gear based on the target vehicle parameters;

[0041] A control module is used to obtain a target rack position of the front wheel steering gear based on the rack position compensation amount and the current rack position, so that the front wheels of the vehicle are steered based on the target rack position.

[0042] In a third aspect, a vehicle is provided, comprising a memory and a processor, wherein the memory is used to store executable program code; the processor is used to call and run the executable program code from the memory, so that the vehicle executes the vehicle control method in the above-mentioned first aspect or any possible implementation of the first aspect.

[0043] In a fourth aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the vehicle control method in the above-mentioned first aspect or any possible implementation of the first aspect.

[0044] In a fifth aspect, a computer program product is provided, which includes: a computer program code, which, when executed on a computer, enables the computer to execute the vehicle control method in the above-mentioned first aspect or any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 is a schematic diagram of a scenario of a vehicle control method provided in an embodiment of the present application;

[0046] Figure 2It is a schematic diagram of a framework of a vehicle control method provided in an embodiment of the present application;

[0047] Figure 3 is a schematic flow chart of a vehicle control method provided in an embodiment of the present application;

[0048] Figure 4 is a schematic flow chart of another vehicle control method provided in an embodiment of the present application;

[0049] Figure 5 is a structural schematic diagram of a vehicle control device provided in an embodiment of the present application;

[0050] Figure 6 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0051] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0052] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0053] For example, by introducing a rear-wheel steering algorithm, the vehicle can move flexibly in a narrow space. When the vehicle is traveling at a low speed, the steering direction of the rear wheels is controlled to be opposite to the steering direction of the front wheels, that is, the rear wheels rotate in opposite directions to the front wheels, thereby reducing the turning radius and improving the maneuverability and flexibility of the vehicle when traveling at a low speed; when the vehicle is traveling at a high speed, the steering direction of the rear wheels can rotate in the same direction as the steering direction of the front wheels, thereby enhancing the vehicle's straight-line driving stability and improving driving safety.

[0054] It should be noted that in the related art, the flexibility of vehicle driving is improved by introducing a rear-wheel steering algorithm; although the rear-wheel steering algorithm brings convenience to vehicle driving, if the rear-wheel steering fails in the process of responding to the front-wheel steering, the rear wheel cannot follow the front wheel rotation, the vehicle driving direction will be offset, and there may be safety hazards. In view of this, the present application provides a vehicle control method, a vehicle control device, a vehicle and a storage medium, which can ensure the stability of the vehicle in the event of a rear-wheel steering failure.

[0055] For example, when the rear wheel steering of the vehicle responds to the front wheel steering, if the rear wheel steering of the vehicle fails, the rear wheel will be stuck in the process of following the front wheel steering, that is, the rear wheel cannot follow the front wheel. When the steering wheel returns to the neutral position, the rear wheel still maintains the steering angle, causing the vehicle to be unable to maintain execution when the steering wheel is kept in the middle position. The wire control system controls the front wheel steering gear to compensate for the rack position, so that the vehicle can keep going straight when the steering wheel is in the middle position, thereby improving the stability of the vehicle and ensuring driving safety.

[0056] Figure 1 It is a scenario schematic diagram of a vehicle control method provided in an embodiment of the present application.

[0057] For example, Figure 1 As shown, if a rear wheel steering failure of the vehicle 100 is detected, that is, the rear wheel steering is fixed, position compensation is required through the front wheel steering gear to enable the vehicle 100 to maintain stable driving in a straight line in the event of a rear wheel steering failure, thereby improving the stability of the vehicle.

[0058] Exemplarily, if a rear-wheel steering failure of the vehicle is detected, the current speed of the vehicle is obtained. When the current speed of the vehicle is less than or equal to a first preset speed, the target vehicle parameters are determined to include the current speed of the vehicle, the current rack position of the rear-wheel steering gear, the yaw angular velocity, and the steering wheel angle; when the current speed of the vehicle is greater than the first preset speed, the target vehicle parameters are determined to include the current speed of the vehicle, the current rack position of the rear-wheel steering gear, the lateral acceleration, and the tire slip angle.

[0059] Specifically, based on the current speed, the adjustment coefficient of each parameter in the target parameter is determined; when the current speed of the vehicle is less than or equal to the first preset speed, based on the current speed, the current rack position of the rear-wheel steering gear, the yaw angular velocity, the steering wheel angle and the adjustment coefficients of each parameter, the rack position compensation amount of the front-wheel steering gear is determined; when the current speed of the vehicle is greater than the first preset speed, based on the current speed, the current rack position of the rear-wheel steering gear, the lateral acceleration, the tire sideslip angle and the adjustment coefficients of each parameter, the rack position compensation amount of the front-wheel steering gear is determined.

[0060] Further, multiple compensation moments and smoothing parameters of the front wheel steering gear are obtained, the smoothing parameter is negatively correlated with the moving speed, the moving speed is used to indicate the speed of moving from the current rack position to the target rack position, and based on each compensation moment, smoothing parameter, rack position compensation amount and target rack position, the target rack sub-position at each compensation moment is obtained. Thus, the front wheel steering gear is controlled based on the target rack sub-position so that the front wheel steering gear moves from the current rack position to the target rack position.

[0061] The above technical solution ensures the accuracy of the rack position compensation through different vehicle parameters corresponding to the current speed, and obtains the target rack position of the front wheel steering gear based on the rack position compensation and the current rack position, so that the front wheels of the vehicle can be steered based on the target rack position. Since the rack position compensation is more accurate, in the event of a rear wheel steering failure of the vehicle, the stability of the vehicle can be ensured, thereby improving driving safety.

[0062] Figure 2 It is a framework flow chart of a vehicle control method provided in an embodiment of the present application.

[0063] For example, Figure 2 As shown, when the wire control steering system 230 detects a rear wheel steering failure of the vehicle, the current speed of the vehicle and the current rack position of the front wheel steering gear are obtained through the vehicle information acquisition module 200, and based on the current speed of the vehicle, the target vehicle parameters corresponding to the current speed are determined, and based on the target vehicle parameters, the rack position compensation amount of the front wheel steering gear is determined, and then based on the rack position compensation amount and the current rack position, the target rack position of the front wheel steering gear is obtained, so that the front wheels of the vehicle are steered based on the target rack position.

[0064] Exemplarily, upon receiving the stuck signal sent by the rear-wheel steering system 240 , the steer-by-wire system 230 determines that there is a rear-wheel steering failure.

[0065] Exemplarily, the rear-wheel steering system 240 collects the current rack position of the rear-wheel steering gear through the rear-wheel rack acquisition module 210, and collects the output current of the rear-wheel steering motor and the rear-wheel motor speed information through the rear-wheel motor information acquisition module 220. The rear-wheel steering system 240 determines whether the rear-wheel steering is faulty through the current rack position of the rear-wheel steering gear, the output current of the rear-wheel steering motor, the rear-wheel motor speed information and the duration of the target state. In the event of a rear-wheel steering fault, a fault signal (stuck signal) is sent to the steer-by-wire system 230, and the current rack position of the rear-wheel steering gear is sent to the steer-by-wire system 200, so that the steer-by-wire system 200 performs rack position compensation through the front-wheel steering gear.

[0066] In addition, in the event of a rear wheel steering failure, the rear wheel steering system 240 sends a fault signal to the vehicle controller 240 and the display module 250 respectively, so that the vehicle controller 240 limits the vehicle power, and the display module 250 outputs a prompt message to prompt the driver of the vehicle's rear wheel steering failure.

[0067] Optionally, the method for steering the front wheels of the vehicle based on the target rack position may refer to the disclosed embodiments and will not be described in detail here.

[0068] It is understandable that the method of fault detection by the rear-wheel steering system is only one method that may be used in practical applications, and does not limit the method of fault detection used in practical applications. For example, the rear-wheel steering system may also send information to the wire steering system so that the wire steering system performs fault detection and signal distribution. The specific method may be determined according to actual conditions and is not limited here.

[0069] Figure 3 It is a schematic flow chart of a vehicle control method provided in an embodiment of the present application.

[0070] For example, Figure 3 The method shown may be executed by a steer-by-wire system or a chip in a vehicle; wherein the steer-by-wire system may be steer-by-wire system 230 .

[0071] For example, Figure 3 As shown, the method 300 includes the following processes:

[0072] S310: If a rear wheel steering failure of the vehicle is detected, the current speed of the vehicle and the current rack position of the front wheel steering gear are obtained.

[0073] Exemplarily, when the steer-by-wire system detects a rear wheel steering failure of the vehicle, the current speed of the vehicle and the current rack position of the front wheel steering gear are obtained. Specifically, when the rear wheel steering of the vehicle fails, the rack position of the rear wheel steering gear will become stuck, and the rear wheels of the vehicle will remain stationary. By obtaining the current speed of the vehicle and the current rack position of the front wheel steering gear, the rack position compensation amount of the front wheel steering gear is determined in the case of a rear wheel failure, thereby controlling the front wheel steering of the vehicle to maintain the stability of the vehicle and prevent the vehicle from deviating.

[0074] Exemplarily, if a rear wheel steering failure of the vehicle is detected, the current rack position of the front wheel steering gear is obtained, and the current rack position of the front wheel steering gear can reflect the steering angle of the front wheels of the vehicle.

[0075] Exemplarily, if a rear wheel steering failure of the vehicle is detected, the current speed of the vehicle is obtained. Specifically, if a rear wheel steering failure of the vehicle is detected, the opening of the accelerator pedal of the vehicle is obtained, and the current speed of the vehicle is determined based on the opening of the accelerator pedal of the vehicle and the preset speed relationship; the preset speed relationship indicates the corresponding relationship between the preset speed of the vehicle and the preset opening of the accelerator pedal, and the opening of the accelerator pedal of the vehicle is determined, so that the current speed of the vehicle can be determined.

[0076] According to the above technical solution, if a rear-wheel steering failure of the vehicle is detected, the current speed of the vehicle is determined based on the opening of the accelerator pedal. Since the rack position of the rear-wheel steering gear of the vehicle remains unchanged in the event of a rear-wheel steering failure, the accuracy of the current speed can be ensured by the opening of the accelerator pedal. The influence of the rear wheels relative to the front wheels can be determined by the current speed of the vehicle, thereby compensating the rack position of the front-wheel steering gear to ensure that the vehicle can maintain stable straight driving.

[0077] It is understandable that if a rear wheel steering failure of the vehicle is detected, in order to improve driving safety, the vehicle speed is limited, that is, to ensure that the vehicle speed is not too high and to avoid dangerous accidents as much as possible.

[0078] Exemplarily, if a rear-wheel steering failure of the vehicle is detected, the requested speed of the vehicle is determined based on the opening of the vehicle's accelerator pedal, and it is determined whether the requested speed is greater than a second preset speed; if the requested speed is less than or equal to the second preset speed, the requested speed is used as the current speed; if the requested speed is greater than the second preset speed, the second preset speed is used as the current speed.

[0079] It should be noted that the current speed of the vehicle is determined as the actual speed (driving speed) of the vehicle; it can be understood that when the requested speed of the vehicle is too high, the speed of the vehicle is limited, and the safety and stability of the vehicle are ensured by limiting the current speed of the vehicle.

[0080] Optionally, the second preset speed may be 50 km / h, 60 km / h, 70 km / h, etc., which is not specifically limited here.

[0081] For example, assuming that the second preset speed is 60km / h; if a rear wheel steering failure of the vehicle is detected, based on the opening of the vehicle's accelerator pedal, the requested speed of the vehicle is determined to be 40km / h, and the current speed of the vehicle is determined to be 40km / h (the driving speed is 40km / h). Alternatively, based on the opening of the vehicle's accelerator pedal, the requested speed of the vehicle is determined to be 80km / h, and the current speed of the vehicle is determined to be 60km / h (the driving speed is 60km / h).

[0082] The above technical solution determines the requested speed of the vehicle based on the opening of the accelerator pedal. If the requested speed is less than or equal to the second preset speed, the requested speed is used as the current speed. If the requested speed is greater than the second preset speed, the second preset speed is used as the current speed. Since the vehicle speed is limited in the event of a rear wheel failure, the maximum speed of the vehicle is determined based on the opening of the accelerator pedal, thereby ensuring driving safety while ensuring the vehicle's power as much as possible.

[0083] In addition, in order to remind the driver to drive carefully, a prompt message can be output when a rear wheel steering failure of the vehicle is detected. The prompt message is used to indicate that there is a rear wheel steering failure of the vehicle and the vehicle power is limited.

[0084] For example, the prompt information can be output by voice; for example, the voice output is "Hello, due to the rear wheel steering failure of the vehicle, the vehicle power is limited, please drive carefully". Alternatively, the prompt information can be displayed on the display screen of the vehicle, prompting the driver by flashing alternately. The output method of the prompt information can be determined according to the actual situation and is not specifically limited here.

[0085] Optionally, the vehicle's display screen may be a central control screen, an instrument panel, a head-up display screen, etc., which is not specifically limited here.

[0086] Exemplarily, the steer-by-wire system determines that the rear wheel steering of the vehicle is faulty when receiving a fault signal sent by the rear wheel steering system. Alternatively, the steer-by-wire system receives rear wheel rack position information and rear wheel motor information sent by the rear wheel steering system, and determines whether the rear wheel steering of the vehicle is faulty based on the rear wheel rack position information and the rear wheel motor information.

[0087] Exemplarily, the rear wheel steering system monitors the rear wheel rack position information and rear wheel motor information in real time, and the rear wheel steering system determines whether the rear wheel steering of the vehicle is faulty in the same way as the wire control steering system. The rear wheel rack position information includes the current rack position of the rear wheel steering gear and the expected rack position of the rear wheel steering gear, and the expected rack position is determined based on the steering wheel angle. The rear wheel motor information includes the rear wheel motor output current and the rear wheel motor speed.

[0088] Specifically, the deviation position between the current rack position of the rear-wheel steering gear and the expected rack position is determined. If the deviation position is greater than the preset position, the output current of the rear-wheel motor is greater than the preset current and the speed of the rear-wheel motor is less than or equal to the preset speed, it is determined that the rear-wheel steering of the vehicle is stuck, that is, the rear-wheel steering fault.

[0089] Optionally, the preset current may be 9A, 10A, 11A, etc., which is not specifically limited here.

[0090] Optionally, the preset rotation speed may be 55 r / s, 60 r / s, 65 r / s, etc., which is not specifically limited here.

[0091] Furthermore, in order to improve the accuracy of rear-wheel steering failure, if the deviation position is greater than the preset position, the output current of the rear-wheel motor is greater than the preset current, and the speed of the rear-wheel motor is less than or equal to the preset speed, the duration of the target state is obtained, and the target state indicates that the deviation position is greater than the preset position, the output current of the rear-wheel motor is greater than the preset current, and the speed of the rear-wheel motor is less than or equal to the preset speed; if the duration of the target state is greater than the preset duration, the rear-wheel steering failure is determined.

[0092] Optionally, the preset duration may be 1.5s, 2s, 2.5s, etc., which is not specifically limited here.

[0093] For example, assuming the preset duration is 2s; if the deviation position is greater than the preset position, the rear wheel motor output current is greater than 10A (preset current) and the rear wheel motor speed is less than 60r / s (preset speed), the duration of the target state is determined to be 1s, and the rear wheel steering of the vehicle is determined to be normal. Alternatively, if the deviation position is greater than the preset position, the rear wheel motor output current is greater than 10A (preset current) and the rear wheel motor speed is less than 60r / s (preset speed), the duration of the target state is determined to be 3s, and the rear wheel steering of the vehicle is determined to be faulty.

[0094] It is understandable that judging whether the rear wheel steering of a vehicle is faulty by a single condition may result in false triggering; for example, when an obstacle appears under the wheel, the output current of the rear wheel motor will also increase, but the increase in current is to cross the obstacle. Therefore, the accuracy of vehicle steering faults can be improved by using multi-dimensional judgment conditions.

[0095] S320, based on the current speed of the vehicle, determining a target vehicle parameter corresponding to the current speed.

[0096] It is understandable that when the vehicle is at a low speed, the vehicle is generally in a U-turn or a turning condition, and the rear wheel steering direction is opposite to the front wheel steering direction; when the vehicle is at a high speed, the rear wheel steering direction is the same as the front wheel steering direction. The vehicle parameters that have a greater impact on the vehicle direction can be determined through the current speed of the vehicle.

[0097] Optionally, the target vehicle parameters may include, but are not limited to: current speed, current rack position of a rear wheel steering gear, yaw rate, steering wheel angle, lateral acceleration and tire slip angle, etc.

[0098] Exemplarily, based on the current speed of the vehicle, the target vehicle parameters corresponding to the current speed are determined. Specifically, it is determined whether the current speed is greater than a first preset speed. When the current speed of the vehicle is less than or equal to the first preset speed, the target vehicle parameters are determined to include the current speed, the current rack position of the rear wheel steering gear, the yaw rate and the steering wheel angle; when the current speed of the vehicle is greater than the first preset speed, the target vehicle parameters are determined to include the current speed, the current rack position of the rear wheel steering gear, the lateral acceleration and the tire slip angle.

[0099] It can be understood that the current rack position of the rear wheel steering gear indicates the rack position where the rear wheel of the vehicle fails, and the current rack position of the rear wheel steering gear can reflect the steering angle of the rear wheels of the vehicle.

[0100] In addition, when the rear wheel steering of the vehicle fails and the current speed of the vehicle is less than or equal to the first preset speed, the rear wheel steering direction is opposite to the front wheel steering direction, and more rack positions need to be compensated by the front wheel steering gear; due to the low current speed of the vehicle, the vehicle dynamic response is slow, and the vehicle yaw rate and steering wheel angle are large. When the rear wheel of the vehicle fails and the current speed of the vehicle is greater than the first preset speed, the rear wheel steering direction is the same as the front wheel steering direction. Due to the high current speed of the vehicle, the vehicle dynamic response is fast, and the vehicle's lateral acceleration and tire slip angle are large.

[0101] Optionally, the first preset speed may be 25 km / h, 30 km / h, 35 km / h, etc., which is not specifically limited here.

[0102] According to the above technical scheme, when the current speed of the vehicle is less than or equal to the first preset speed, the target vehicle parameters including the current speed, the current rack position of the rear-wheel steering gear, the yaw angular velocity and the steering wheel angle are determined; when the current speed of the vehicle is greater than the first preset speed, the target vehicle parameters including the current speed, the current rack position of the rear-wheel steering gear, the lateral acceleration and the tire slip angle are determined; through the current speed of the vehicle, the vehicle parameters that have a greater impact on the vehicle direction can be determined, thereby determining the rack position compensation amount through different vehicle parameters corresponding to the current speed, which can improve the accuracy of the rack position compensation amount.

[0103] S330, determining a rack position compensation amount of a front wheel steering gear based on the target vehicle parameters.

[0104] For example, when a rear wheel steering failure of the vehicle is detected, the front wheel steering gear is compensated by the rack position compensation amount, which can ensure that the vehicle maintains stable and straight driving, thereby improving driving safety.

[0105] Exemplarily, based on the current speed, an adjustment coefficient of each parameter in the target parameters is determined, and based on the adjustment coefficient of each parameter in the target parameters and the target vehicle parameters, a rack position compensation amount of the front wheel steering gear is determined.

[0106] Specifically, when the current speed of the vehicle is less than or equal to the first preset speed, the rack position compensation amount is obtained based on the sum of the product of the current speed and the adjustment coefficient corresponding to the current speed, the product of the current rack position of the rear-wheel steering gear and the adjustment coefficient corresponding to the current rack position of the rear-wheel steering gear, the product of the yaw angular velocity and the adjustment coefficient corresponding to the yaw angular velocity, and the product of the steering wheel angle and the adjustment coefficient corresponding to the steering wheel angle; when the current speed of the vehicle is greater than the first preset speed, the rack position compensation amount is obtained based on the sum of the product of the current speed and the adjustment coefficient corresponding to the current speed, the product of the current rack position of the rear-wheel steering gear and the adjustment coefficient corresponding to the current rack position of the rear-wheel steering gear, the product of the lateral acceleration and the adjustment coefficient corresponding to the lateral acceleration, and the tire slip angle and the product of the adjustment coefficient corresponding to the tire slip angle.

[0107] It can be understood that the adjustment coefficient is used to adjust the target vehicle parameters so as to make the rack position of the front wheel steering gear more accurate.

[0108] The above technical solution determines the adjustment coefficient of each parameter in the target parameters based on the current speed, and determines the rack position compensation amount of the front wheel steering gear based on the adjustment coefficient of each parameter in the target parameters and the target vehicle parameters; since the adjustment coefficient is determined based on the current speed, the target vehicle parameters are adjusted by the adjustment coefficient to determine the rack position compensation amount, which can improve the accuracy of the rack position compensation amount.

[0109] In one example, when the current speed of the vehicle is less than or equal to the first preset speed, the target vehicle parameters are determined to include the current speed, the current rack position of the rear-wheel steering gear, the yaw angular velocity and the steering wheel angle; and based on the current speed of the vehicle, the adjustment coefficient (first coefficient) corresponding to the current speed, the adjustment coefficient (second coefficient) corresponding to the current rack position of the rear-wheel steering gear, the adjustment number (third coefficient) corresponding to the yaw angular velocity and the adjustment coefficient (fourth coefficient) corresponding to the steering wheel angle are determined, and the opposite number of the current rack position, that is, the difference between 0 and the current rack position is determined (because when the speed of the vehicle is low, the steering directions of the front wheels of the vehicle and the rear wheels of the vehicle are opposite, when the speed of the vehicle is low, the rack position compensation amount of the front wheel steering gear can be determined by the opposite number of the current rack position of the rear-wheel steering gear), and then based on the sum of the product of the current speed and the first coefficient, the product of the opposite number of the current rack position and the second coefficient, the product of the yaw angular velocity and the third coefficient, and the product of the steering wheel angle and the fourth coefficient, it is determined as the rack position compensation amount of the front wheel steering gear.

[0110] Exemplarily, when the current speed of the vehicle is less than or equal to the first preset speed, the rack position compensation amount of the front wheel steering gear is expressed as follows:

[0111] ΔX Front =K v *v+K x *(0-X Rear )+K ω *ω+K θ *θ

[0112] Where ΔX Front Indicates the rack position compensation of the front wheel steering gear, K v The first coefficient representing the current speed of the vehicle, v represents the current speed of the vehicle, in km / h; K x The second coefficient representing the current rack position of the rear wheel steering gear, X Rear Indicates the current rack position of the rear wheel steering gear, in mm; K ω The third coefficient of the yaw rate, ω represents the yaw rate, the unit is rad / s; K θ A fourth coefficient representing a steering wheel angle, and θ represents a steering wheel angle.

[0113] It should be noted that the first coefficient and the second coefficient are determined based on the vehicle's dynamic characteristics and measured data. The first coefficient is negatively correlated with the vehicle's current speed. The first coefficient will decrease with the increase of the vehicle's current speed to improve the vehicle's stability under high-speed driving conditions. When the vehicle is driving at a low speed, the vehicle's turning radius is small, and a larger steering wheel angle is required to increase passability; when the vehicle is driving at a high speed, the vehicle's turning radius is large, and only a smaller steering wheel angle is required to stably pass through the curve. Therefore, as the vehicle's current speed increases, the rack position that needs to be compensated by the front-wheel steering gear gradually becomes smaller.

[0114] The second coefficient is used to adjust the compensation amplitude of the front-wheel steering gear. As the current speed of the vehicle increases, the second coefficient gradually decreases. When the vehicle is driving at a low speed, the stability of the vehicle is better, and the dynamic behavior of the vehicle can be corrected quickly and effectively. However, when the vehicle is driving at a high speed, the stability of the vehicle is lower. By reducing the second coefficient, the dynamic behavior of the vehicle can be effectively corrected to avoid excessive compensation amplitude causing a decrease in vehicle stability.

[0115] The third coefficient gradually increases as the current speed of the vehicle decreases, that is, as the yaw rate increases; the fourth coefficient gradually increases as the current speed of the vehicle decreases, that is, as the steering wheel angle increases. When the steering wheel angle is small, the driver's intention is mainly to fine-tune, and the rack position of the front wheel steering gear and the rack position of the rear wheel steering gear are both small; when the steering wheel angle is large, the driver usually needs to turn or turn around, and the rack position of the front wheel steering gear and the rack position of the rear wheel steering gear are both large.

[0116] In another example, when the current speed of the vehicle is greater than a first preset speed, the target vehicle parameters are determined to include the current speed, the current rack position of the rear-wheel steering gear, the lateral acceleration and the tire slip angle; and based on the current speed of the vehicle, the adjustment coefficient (first coefficient) corresponding to the current speed, the adjustment coefficient (second coefficient) corresponding to the current rack position of the rear-wheel steering gear, the adjustment coefficient (fifth coefficient) corresponding to the lateral acceleration and the adjustment coefficient (sixth coefficient) corresponding to the tire slip angle are determined, and based on the sum of the product of the current speed and the first coefficient, the product of the current rack position and the second coefficient, the product of the lateral acceleration and the fifth coefficient, and the product of the tire slip angle and the sixth coefficient, the rack position compensation amount of the front-wheel steering gear is determined.

[0117] It can be understood that both the first coefficient and the second coefficient change with the current speed of the vehicle.

[0118] Exemplarily, when the current speed of the vehicle is greater than the first preset speed, the rack position compensation amount of the front wheel steering gear is expressed as follows:

[0119] ΔX Front =K v *v+K x *X Rear +K ay *ay+K α *α

[0120] Where ΔX Front Indicates the rack position compensation of the front wheel steering gear, K v The first coefficient representing the current speed of the vehicle, v represents the current speed of the vehicle, in km / h; K x The second coefficient representing the current rack position of the rear wheel steering gear, X Rear Indicates the current rack position of the rear wheel steering gear, in mm; K ay Indicates the fifth coefficient of lateral acceleration, ay represents lateral acceleration, the unit is m / s2; K α The sixth coefficient representing the tire slip angle, α represents the tire slip angle.

[0121] It should be noted that the fifth coefficient gradually increases as the current speed of the vehicle decreases, that is, it increases as the lateral acceleration increases; the sixth coefficient gradually increases as the current speed of the vehicle increases. When the tire slip angle is small, the tire lateral sliding speed is small, and the position requiring front wheel steering compensation is small. When the tire slip angle is large, the tire lateral sliding speed is large, and the position requiring front wheel steering compensation is large.

[0122] S340, based on the rack position compensation amount and the current rack position, obtain the target rack position of the front wheel steering gear, so that the front wheels of the vehicle are steered based on the target rack position.

[0123] Exemplarily, based on the sum of the rack position compensation amount and the current rack position, the target rack position of the front wheel steering gear is determined, and the front wheels of the vehicle are controlled to steer based on the target rack position to ensure that the vehicle travels in a straight line.

[0124] For example, in the process of controlling the front wheels of the vehicle to steer based on the target rack position, in order to avoid the vehicle from being offset due to excessive compensation speed, the front wheel steering gear compensation process is smoothed, that is, moved in stages, so that the vehicle's compensation speed is smoother, thereby achieving smooth adjustment of the rack position of the front wheel steering gear.

[0125] Exemplarily, based on the rack position compensation amount and the target rack position, a target rack sub-position is obtained, and based on the target rack sub-position, the front wheel steering gear is controlled to move the front wheel steering gear from the current rack position to the target rack position.

[0126] The above technical solution obtains the target rack sub-position based on the rack position compensation amount and the target rack position, and controls the front wheel steering gear based on the target rack sub-position to move the front wheel steering gear from the current rack position to the target rack position; since the target rack sub-position is obtained by smoothing, by smoothing the front wheel actuator compensation process, the phenomenon of vehicle instability caused by excessive speed compensation can be avoided, thereby improving the stability of the vehicle.

[0127] In one example, based on the rack position compensation amount and the target rack position, the target rack sub-position is obtained. Specifically, multiple compensation moments and smoothing parameters of the front wheel steering gear are obtained, and the smoothing parameter is negatively correlated with the moving speed, and the moving speed is used to indicate the speed of moving from the current rack position to the target rack position. And based on each compensation moment, the smoothing parameter, the rack position compensation amount and the target rack position, the target rack sub-position at each compensation moment is obtained.

[0128] For example, the expression of the target rack position can be expressed as follows:

[0129] ΔX2=ΔX1+ΔX Front

[0130] ΔX Smooth =ΔX2-e -Δt / T ΔX Front

[0131] Among them, ΔX1 represents the current rack position of the front wheel steering gear, ΔX2 represents the target rack position of the front wheel steering gear, and ΔX Front represents the rack position compensation of the front wheel steering gear, Δt represents the compensation time, and T represents the smoothing parameter. Since the compensation time increases gradually, -e -Δt / T From 1 to 0, ΔX Smooth The front wheel steering gear is moved from the current rack position to the target rack position by gradually changing from ΔX1 to ΔX2. In addition, as the smoothing parameter increases, the speed of gradually changing from ΔX1 to ΔX2 becomes slower and the duration is longer.

[0132] The above technical solution obtains multiple compensation moments and smoothing parameters of the front-wheel steering gear, and obtains the target rack sub-position at each compensation moment based on each compensation moment, smoothing parameter, rack position compensation amount and target rack position; and then moves according to the corresponding target rack sub-position at each compensation moment, thereby achieving smooth movement of the rack position of the front-wheel steering gear and improving the stability of the vehicle.

[0133] In another example, the rack position compensation is divided into at least one rack position sub-compensation, starting from the current rack position of the front wheel steering gear, and accumulating a rack position sub-compensation at each compensation moment to obtain a target rack sub-position corresponding to each compensation moment.

[0134] For example, the compensation moments are t1, t2, and t3 respectively, and the rack position compensation amount is equally divided into three rack position sub-compensations of Δ1. If the current rack position of the front-wheel steering gear is S1, the target rack sub-position corresponding to moment t1 is Δ1+S1, the target rack sub-position corresponding to moment t2 is 2*Δ1+S1, and the target rack sub-position corresponding to moment t3 is 3*Δ1+S1, that is, the target rack position is 3*Δ1+S1.

[0135] According to the above technical solution, if a rear-wheel steering failure of the vehicle is detected, the current speed of the vehicle and the current rack position of the front-wheel steering gear are obtained, and based on the current speed of the vehicle, the target vehicle parameters corresponding to the current speed are determined, and based on the target vehicle parameters, the rack position compensation amount of the front-wheel steering gear is determined; compared with the prior art, in which the rack position compensation amount is determined by fixed vehicle parameters, the present application determines the rack position compensation amount by the target vehicle parameters corresponding to the current speed, and then ensures the accuracy of the rack position compensation amount by different vehicle parameters corresponding to the current speed, and obtains the target rack position of the front-wheel steering gear based on the rack position compensation amount and the current rack position, so that the front wheels of the vehicle are steered based on the target rack position. Since the rack position compensation amount is more accurate, in the event of a rear-wheel steering failure of the vehicle, the stability of the vehicle can be ensured, thereby improving driving safety.

[0136] Figure 4 It is a schematic flow chart of another vehicle control method provided in an embodiment of the present application.

[0137] For example, Figure 4 The method shown can be executed by a wire-controlled steering system or chip in a vehicle; wherein the wire-controlled steering system can be as follows Figure 2 The steer-by-wire system 230 .

[0138] For example, Figure 4 As shown, the method 400 includes the following processes:

[0139] S401: If a rear wheel steering failure of the vehicle is detected, the opening degree of the accelerator pedal of the vehicle is obtained.

[0140] For example, when a rear wheel steering failure of the vehicle is detected, the opening of the accelerator pedal of the vehicle is obtained. Since the rack position of the rear wheel steering gear of the vehicle remains unchanged when the rear wheel steering failure of the vehicle occurs, the accuracy of the current speed can be ensured by the opening of the accelerator pedal.

[0141] S402, determining a requested speed of the vehicle based on the opening degree of the accelerator pedal.

[0142] Exemplarily, the opening degree of the vehicle's accelerator pedal is obtained, and the current speed of the vehicle is determined based on the relationship between the opening degree of the vehicle's accelerator pedal and a preset speed; the preset speed relationship indicates the corresponding relationship between the vehicle's preset speed and the preset opening degree of the accelerator pedal, and the opening degree of the vehicle's accelerator pedal is determined, so the current speed of the vehicle can be determined.

[0143] S403, determine whether the requested speed is greater than the second preset speed; if not, execute S404; if yes, execute S405.

[0144] Exemplarily, based on the opening degree of the accelerator pedal, a requested speed of the vehicle is determined, and it is determined whether the requested speed is greater than a second preset speed.

[0145] Optionally, the second preset speed may be 50 km / h, 60 km / h, 70 km / h, etc., which is not specifically limited here.

[0146] It can be understood that the second preset speed is used to limit the actual speed of the vehicle, so that in the event of a rear wheel steering failure of the vehicle, the vehicle speed can be limited, thereby ensuring the safety and stability of the vehicle by limiting the current speed of the vehicle.

[0147] S404: Taking the requested speed as the current speed.

[0148] Exemplarily, if the requested speed is less than or equal to the second preset speed, the requested speed is used as the current speed.

[0149] For example, assuming that the second preset speed is 60km / h; if a rear-wheel steering failure of the vehicle is detected, based on the opening of the vehicle's accelerator pedal, the vehicle's requested speed is determined to be 40km / h, then the vehicle's current speed is determined to be 40km / h (driving speed is 40km / h).

[0150] S405: Using the second preset speed as the current speed.

[0151] Exemplarily, if the requested speed is greater than the second preset speed, the second preset speed is used as the current speed.

[0152] For example, assuming that the second preset speed is 60km / h; if a rear-wheel steering failure of the vehicle is detected, based on the opening of the vehicle's accelerator pedal, the vehicle's requested speed is determined to be 80km / h, then the vehicle's current speed is determined to be 60km / h (driving speed is 60km / h).

[0153] S406, determine whether the current speed is greater than the first preset speed; if not, execute S407; if so, execute S409.

[0154] Exemplarily, based on the current speed of the vehicle, the target vehicle parameters corresponding to the current speed are determined. Specifically, it is determined whether the current speed is greater than the first preset speed. When the rear wheel steering of the vehicle fails and the current speed of the vehicle is less than or equal to the first preset speed, the rear wheel steering direction is opposite to the front wheel steering direction, and more rack positions need to be compensated by the front wheel steering gear; due to the low current speed of the vehicle, the vehicle dynamic response is slow, and the vehicle yaw angular velocity and steering wheel angle are large. When the rear wheel of the vehicle fails and the current speed of the vehicle is greater than the first preset speed, the rear wheel steering direction is the same as the front wheel steering direction. Due to the high current speed of the vehicle, the vehicle dynamic response is fast, and the vehicle's lateral acceleration and tire slip angle are large.

[0155] Optionally, the first preset speed may be 25 km / h, 30 km / h, 35 km / h, etc., which is not specifically limited here.

[0156] S407, determining the target vehicle parameters including the current speed, the current rack position of the rear wheel steering gear, the yaw angular velocity and the steering wheel angle.

[0157] Exemplarily, determine whether the current speed is greater than a first preset speed. When the current speed of the vehicle is less than or equal to the first preset speed, determine the target vehicle parameters including the current speed, the current rack position of the rear steering gear, the yaw angular velocity and the steering wheel angle.

[0158] S408: Determine a rack position compensation amount based on the current speed, the current rack position of the rear wheel steering gear, the yaw rate and the steering wheel angle.

[0159] Exemplarily, when the current speed of the vehicle is less than or equal to a first preset speed, the target vehicle parameters are determined to include the current speed, the current rack position of the rear-wheel steering gear, the yaw angular velocity and the steering wheel angle; and the adjustment coefficient of each parameter in the target vehicle parameters is obtained, and based on the adjustment coefficient of each parameter, the current speed, the current rack position of the rear-wheel steering gear, the yaw angular velocity and the steering wheel angle, the rack position compensation amount is determined.

[0160] Specifically, based on the current speed of the vehicle, a first coefficient of the current speed, a second coefficient of the current rack position of the rear-wheel steering gear, a third coefficient of the yaw angular velocity and a fourth coefficient of the steering wheel angle are determined, and based on the product of the current speed and the first coefficient, the opposite of the current rack position (i.e., the difference between 0 and the current rack position; since when the speed of the vehicle is relatively low, the steering directions of the front wheels of the vehicle and the rear wheels of the vehicle are opposite, when the speed of the vehicle is relatively low, the rack position compensation amount of the front-wheel steering gear can be determined by the opposite of the current rack position of the rear-wheel steering gear) and the product of the second coefficient, the product of the yaw angular velocity and the third coefficient, and the sum of the product of the steering wheel angle and the fourth coefficient, the rack position compensation amount of the front-wheel steering gear is determined.

[0161] S409, determining the target vehicle parameters including the current speed, the current rack position of the rear wheel steering gear, the lateral acceleration and the tire slip angle.

[0162] Exemplarily, it is determined whether the current speed is greater than a first preset speed. When the current speed of the vehicle is greater than the first preset speed, the target vehicle parameters are determined to include the current speed, the current rack position of the rear wheel steering gear, the lateral acceleration and the tire slip angle.

[0163] S410, determining a rack position compensation amount based on the current speed, the current rack position of the rear wheel steering gear, the lateral acceleration and the tire slip angle.

[0164] Exemplarily, when the current speed of the vehicle is greater than a first preset speed, the target vehicle parameters are determined to include the current speed, the current rack position of the rear-wheel steering gear, the lateral acceleration and the tire slip angle; and the adjustment coefficient of each parameter in the target vehicle parameters is obtained, and based on the adjustment coefficient of each parameter, the current speed, the current rack position of the rear-wheel steering gear, the lateral acceleration and the tire slip angle, the rack position compensation amount is determined.

[0165] Specifically, based on the current speed of the vehicle, a first coefficient of the current speed, a second coefficient of the current rack position of the rear-wheel steering gear, a fifth coefficient of the lateral acceleration and a sixth coefficient of the tire slip angle are determined, and based on the sum of the product of the current speed and the first coefficient, the product of the current rack position and the second coefficient, the product of the lateral acceleration and the fifth coefficient, and the product of the tire slip angle and the sixth coefficient, the rack position compensation amount of the front-wheel steering gear is determined.

[0166] S411, based on the rack position compensation amount and the current rack position, obtain the target rack position of the front wheel steering gear.

[0167] Exemplarily, based on the sum of the rack position compensation amount and the current rack position, the target rack position of the front wheel steering gear is determined, and the front wheels of the vehicle are controlled to steer based on the target rack position to ensure that the vehicle travels in a straight line.

[0168] S412, obtaining a target rack sub-position based on the rack position compensation amount and the target rack position.

[0169] Exemplarily, based on the rack position compensation amount and the target rack position, the target rack sub-position is obtained. Specifically, multiple compensation moments and smoothing parameters of the front wheel steering gear are obtained, and the smoothing parameter is negatively correlated with the moving speed, and the moving speed is used to indicate the speed of moving from the current rack position to the target rack position. And based on each compensation moment, the smoothing parameter, the rack position compensation amount and the target rack position, the target rack sub-position at each compensation moment is obtained.

[0170] S413, controlling the front wheel steering gear based on the target rack position so that the front wheel steering gear moves from the current rack position to the target rack position.

[0171] Exemplarily, based on the rack position compensation amount and the target rack position, a target rack sub-position is obtained, and based on the target rack sub-position, the front wheel steering gear is controlled so that the front wheel steering gear moves from the current rack position to the target rack position. Since the target rack sub-position is obtained by smoothing, by smoothing the front wheel actuator compensation process, the phenomenon of vehicle instability caused by excessive speed compensation can be avoided, thereby improving the stability of the vehicle.

[0172] In the above technical solution, when the current speed of the vehicle is less than or equal to the first preset speed, the target vehicle parameters including the current speed, the current rack position of the rear wheel steering gear, the yaw rate and the steering wheel angle are determined; when the current speed of the vehicle is greater than the first preset speed, the target vehicle parameters including the current speed, the current rack position of the rear wheel steering gear, the lateral acceleration and the tire slip angle are determined; through the current speed of the vehicle, the vehicle parameters that have a greater impact on the direction of the vehicle can be determined, and the rack position compensation amount can be determined by different vehicle parameters corresponding to the current speed, which can improve the accuracy of the rack position compensation amount. Furthermore, the target rack position is obtained by smoothing, and by smoothing the front wheel actuator compensation process, the phenomenon of vehicle instability caused by excessive speed compensation can be avoided, and the stability of the vehicle can be improved, thereby improving driving safety.

[0173] It should be understood that the above examples are intended to help those skilled in the art understand the embodiments of the present application, rather than to limit the embodiments of the present application to the specific numerical values ​​or specific scenarios illustrated. Those skilled in the art can obviously make various equivalent modifications or changes based on the above examples, and such modifications or changes also fall within the scope of the embodiments of the present application.

[0174] Combination of the above Figures 1 to 4 The vehicle control method provided by the embodiment of the present application is described in detail; Figure 5 and Figure 6 The device embodiments of the present application are described in detail. It should be understood that the device in the embodiments of the present application can execute the various methods of the aforementioned embodiments of the present application, that is, the specific working processes of the following various products can refer to the corresponding processes in the aforementioned method embodiments.

[0175] Figure 5 It is a structural schematic diagram of a vehicle control device provided in an embodiment of the present application.

[0176] For example, Figure 5 As shown, the vehicle control device 500 includes:

[0177] The acquisition module 510 is used to acquire the current speed of the vehicle and the current rack position of the front wheel steering gear if a rear wheel steering failure of the vehicle is detected;

[0178] Determination module 520: used to determine the target vehicle parameter corresponding to the current speed based on the current speed of the vehicle;

[0179] Calculation module 530: used to determine the rack position compensation amount of the front wheel steering gear based on the target vehicle parameters;

[0180] Control module 540: used to obtain a target rack position of the front wheel steering gear based on the rack position compensation amount and the current rack position, so that the front wheels of the vehicle are steered based on the target rack position.

[0181] Optionally, as an embodiment, the determining module 520 is specifically configured to:

[0182] If the current speed of the vehicle is less than or equal to the first preset speed, determining the target vehicle parameters including the current speed, the current rack position of the rear wheel steering gear, the yaw rate and the steering wheel angle;

[0183] If the current speed of the vehicle is greater than the first preset speed, the target vehicle parameters are determined to include the current speed, the current rack position of the rear wheel steering gear, the lateral acceleration and the tire slip angle.

[0184] Optionally, as an embodiment, the calculation module 530 is specifically configured to:

[0185] Based on the current speed, determine the adjustment coefficient of each parameter in the target parameter;

[0186] The rack position compensation amount is obtained based on the sum of the product of the current speed and the adjustment coefficient corresponding to the current speed, the product of the current rack position of the rear wheel steering gear and the adjustment coefficient corresponding to the current rack position of the rear wheel steering gear, the product of the yaw rate and the adjustment coefficient corresponding to the yaw rate, and the product of the steering wheel angle and the adjustment coefficient corresponding to the steering wheel angle;

[0187] The rack position compensation amount is obtained based on the sum of the product of the current speed and the adjustment coefficient corresponding to the current speed, the product of the current rack position of the rear wheel steering gear and the adjustment coefficient corresponding to the current rack position of the rear wheel steering gear, the product of the lateral acceleration and the adjustment coefficient corresponding to the lateral acceleration, and the product of the tire slip angle and the adjustment coefficient corresponding to the tire slip angle.

[0188] Optionally, as an embodiment, the vehicle control device 500 further includes a steering module, and the steering module is specifically used for:

[0189] Based on the rack position compensation amount and the target rack position, the target rack sub-position is obtained;

[0190] The front wheel steering gear is controlled based on the target rack position so that the front wheel steering gear moves from the current rack position to the target rack position.

[0191] Optionally, as an embodiment, the steering module is specifically used for:

[0192] Acquire multiple compensation moments and smoothing parameters of the front wheel steering gear; wherein the smoothing parameter is negatively correlated with the moving speed, and the moving speed is used to indicate the speed of moving from the current rack position to the target rack position;

[0193] Based on each compensation moment, smoothing parameter, rack position compensation amount and target rack position, the target rack position at each compensation moment is obtained.

[0194] Optionally, as an embodiment, the acquisition module 510 is specifically used for:

[0195] If a rear wheel steering failure of the vehicle is detected, the opening degree of the accelerator pedal of the vehicle is obtained; based on the opening degree of the accelerator pedal, the current speed of the vehicle is determined.

[0196] Optionally, as an embodiment, the acquisition module 510 is specifically used for:

[0197] determining a requested speed of the vehicle based on an opening of the accelerator pedal;

[0198] If the requested speed is less than or equal to the second preset speed, the requested speed is used as the current speed;

[0199] If the requested speed is greater than the second preset speed, the second preset speed is used as the current speed.

[0200] It should be noted that the vehicle control device 500 is implemented in the form of a functional unit. The term "module" here can be implemented in the form of software and / or hardware, and is not specifically limited to this.

[0201] For example, a "module" may be a software program, a hardware circuit, or a combination of the two that implements the above functions. The hardware circuit may include an application specific integrated circuit (ASIC), an electronic circuit, a processor (such as a shared processor, a dedicated processor, or a group processor, etc.) and a memory for executing one or more software or firmware programs, a combined logic circuit, and / or other suitable components that support the described functions.

[0202] Therefore, the units of each example described in the embodiments of the present application can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present application.

[0203] Figure 6 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application.

[0204] For example, the vehicle 600 and Figure 1 The vehicle 100 in FIG. 1 represents the same vehicle.

[0205] For example, Figure 6 As shown, the vehicle 600 includes: a memory 610 and a processor 620, wherein the memory 610 stores an executable program code 630, and the processor 620 is used to call and execute the executable program code 630 to perform a vehicle control method.

[0206] Exemplarily, the memory 610 can be used to store relevant programs of the vehicle control method provided in the embodiment of the present application; the processor 620 can call the relevant programs of the vehicle control method stored in the memory 610 to execute the vehicle control method of the embodiment of the present application; for example, if a rear-wheel steering failure of the vehicle is detected, the current speed of the vehicle and the current rack position of the front-wheel steering gear are obtained; based on the current speed of the vehicle, the target vehicle parameters corresponding to the current speed are determined; based on the target vehicle parameters, the rack position compensation amount of the front-wheel steering gear is determined; based on the rack position compensation amount and the current rack position, the target rack position of the front-wheel steering gear is obtained, so that the front wheels of the vehicle are steered based on the target rack position.

[0207] In this embodiment, the functional modules of the device can be divided according to the above method example. For example, each functional module can be corresponded, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0208] In the case of dividing each functional module according to each function, the device may also include an acquisition module, a determination module, a calculation module, a control module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, which will not be repeated here.

[0209] It should be understood that the device provided in this embodiment is used to execute the above-mentioned vehicle control method, and thus can achieve the same effect as the above-mentioned implementation method.

[0210] In the case of an integrated unit, the device may include a processing module and a storage module. When the device is applied to a vehicle, the processing module may be used to control and manage the actions of the vehicle. The storage module may be used to support the vehicle in executing related program codes, etc.

[0211] The processing module may be a processor or a controller, which may implement or execute various exemplary logic blocks, modules and circuits shown in conjunction with the disclosure of the present application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module may be a memory.

[0212] In addition, the device provided in the embodiments of the present application may specifically be a chip, component or module, and the chip may include a connected processor and memory; wherein the memory is used to store instructions, and when the processor calls and executes the instructions, the chip can execute a vehicle control method provided in the above embodiments.

[0213] The present application also provides a computer-readable storage medium, in which a computer program code is stored. When the computer program code is executed on a computer, the computer executes the above-mentioned related method steps to implement a vehicle control method provided by the above-mentioned embodiment. Among them, computer-readable storage media may include but are not limited to any type of disk, including floppy disks, optical disks, digital versatile disks (DVD), compact disc read-only memory (CD-ROM), microdrives and magneto-optical disks, read-only memory (ROM), random access memory (RAM), erasable programmable read-only memory (EPROM), electrically erasable programmable read only memory (EEPROM), dynamic random access memory (DRAM), video random access memory (VRAM), flash memory devices, magnetic cards or optical cards, nanosystems (including molecular memory ICs), or any type of medium or device suitable for storing instructions and / or data.

[0214] The present application also provides a computer program product. When the computer program product is run on a computer, the computer is enabled to execute the above-mentioned related steps to implement a vehicle control method provided by the above-mentioned embodiment.

[0215] Among them, the vehicle, computer-readable storage medium, computer program product or chip provided in this application are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0216] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0217] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0218] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A vehicle control method, characterized in that: The method comprises: If a rear wheel steering failure of the vehicle is detected, obtaining the current speed of the vehicle and the current rack position of the front wheel steering gear; Based on the current speed of the vehicle, determining a target vehicle parameter corresponding to the current speed; Based on the target vehicle parameters, determining a rack position compensation amount of the front wheel steering gear; Based on the rack position compensation amount and the current rack position, a target rack position of the front wheel steering gear is obtained, so that the front wheels of the vehicle are steered based on the target rack position.

2. The method according to claim 1, characterized in that: The determining, based on the current speed of the vehicle, a target vehicle parameter corresponding to the current speed includes: If the current speed of the vehicle is less than or equal to a first preset speed, determining the target vehicle parameters including the current speed, the current rack position of the rear wheel steering gear, the yaw rate and the steering wheel angle; If the current speed of the vehicle is greater than the first preset speed, the target vehicle parameters are determined to include the current speed, the current rack position of the rear wheel steering gear, the lateral acceleration and the tire slip angle.

3. The method according to claim 2, characterized in that The method further comprises: Based on the current speed, determining an adjustment coefficient of each parameter in the target parameter; If the current speed of the vehicle is less than or equal to the first preset speed, determining the rack position compensation amount of the front wheel steering gear based on the target vehicle parameter includes: Obtaining the rack position compensation amount based on the sum of the product of the current speed and the adjustment coefficient corresponding to the current speed, the product of the current rack position of the rear wheel steering gear and the adjustment coefficient corresponding to the current rack position of the rear wheel steering gear, the product of the yaw rate and the adjustment coefficient corresponding to the yaw rate, and the product of the steering wheel angle and the adjustment coefficient corresponding to the steering wheel angle; If the current speed of the vehicle is greater than the first preset speed, determining the rack position compensation amount of the front wheel steering gear based on the target vehicle parameter includes: The rack position compensation amount is obtained based on the sum of the product of the current speed and the adjustment coefficient corresponding to the current speed, the product of the current rack position of the rear-wheel steering gear and the adjustment coefficient corresponding to the current rack position of the rear-wheel steering gear, the product of the lateral acceleration and the adjustment coefficient corresponding to the lateral acceleration, and the product of the tire slip angle and the adjustment coefficient corresponding to the tire slip angle.

4. The method according to claim 1, characterized in that The method further comprises: Based on the rack position compensation amount and the target rack position, obtaining a target rack sub-position; The front wheel steering gear is controlled based on the target rack position so that the front wheel steering gear moves from the current rack position to the target rack position.

5. The method according to claim 4, characterized in that The step of obtaining a target rack sub-position based on the rack position compensation amount and the target rack position includes: Acquire multiple compensation moments and smoothing parameters of the front wheel steering gear; wherein the smoothing parameter is negatively correlated with the moving speed, and the moving speed is used to indicate the speed of moving from the current rack position to the target rack position; Based on each compensation moment, a smoothing parameter, the rack position compensation amount and the target rack position, the target rack position at each compensation moment is obtained.

6. The method according to claim 1, characterized in that If a rear wheel steering failure of the vehicle is detected, obtaining the current speed of the vehicle includes: If a rear wheel steering failure of the vehicle is detected, obtaining the opening degree of the accelerator pedal of the vehicle; Based on the opening degree of the accelerator pedal, a current speed of the vehicle is determined.

7. The method according to claim 6, characterized in that The determining the current speed of the vehicle based on the opening degree of the accelerator pedal comprises: determining a requested speed of the vehicle based on the opening of the accelerator pedal; If the requested speed is less than or equal to a second preset speed, taking the requested speed as the current speed; If the requested speed is greater than a second preset speed, the second preset speed is used as the current speed.

8. A vehicle control device, characterized in that: The device comprises: An acquisition module, for acquiring a current speed of the vehicle and a current rack position of a front wheel steering gear if a rear wheel steering failure of the vehicle is detected; A determination module, configured to determine a target vehicle parameter corresponding to the current speed based on the current speed of the vehicle; A calculation module, used for determining a rack position compensation amount of the front wheel steering gear based on the target vehicle parameters; A control module is used to obtain a target rack position of the front wheel steering gear based on the rack position compensation amount and the current rack position, so that the front wheels of the vehicle are steered based on the target rack position.

9. A vehicle, characterized in that: The vehicle comprises: A memory for storing executable program codes; A processor, configured to call and run the executable program code from the memory so that the vehicle executes the vehicle control method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed, the vehicle control method according to any one of claims 1 to 7 is implemented.

Images